A system for use with StarL to provide localization information from multiple Kinects.
To learn more about StarL check out its GitHub page here.
Here is a comprehensive list of all the messages being passed around in this system. It is broken into two (2) categories: Messages Sent by Central Command and Messages Sent by Robot Observer(s)
The Label refers to message name used in ROS.
The Type referes to the message structure. Most of the message types used in this system are String.
The Format refers to how the message is set up for parsing purposes.
The Specifications refers to necessities required for the message.
| Label | Type | Format | Specifications |
|---|---|---|---|
| /kinectID_list | String | 'kinect_number:center_X:center_Y,kinect_number:center_X:center_Y,...' | Must include all of the Kinects and their center coordinates in millimeters. |
| /botID_list | String | 'robot_name:robot_type:color,robot_name:robot_type:color,...' | Must include all of the robots. The order will be maintained and each robot's number will be determined by its index in the botArray. |
| /shutdown | Byte | 0 | 1 | 0 to continue, 1 to shutdown |
| /kinect#/bot_list | String | 'robot_number,robot_number,...' | This list contains only the robots to appear under Kinect#. |
| /kinect#/incoming | String | 'robot_number:search_area:previous_kinect_number,robot_number...' | List is empty string if no incoming robots. |
| Label | Type | Format | Specifications |
|---|---|---|---|
| /kinect#/locations | String | 'kinect_number,robot_number:radius:X:Y:Z:yaw:hysteresis,robot_number...' | Separate robots with "," and the robot's individual location components with ":". Only list robots that are present. If no robots present, message will be 'kinect_number'. |
| /kinect#/response | String | 'kinect_number,robot_number:status:previous_kinect_number,robot_number...' | This a response to the incoming message and will not be sent if incoming is an empty string. |